Setting Parameters for Encoder

When starting up, the device reads the absolute position of the motor from the encoder. The absolute position can be read with the parameter _p_absENC.

NOTE:

Values for positions, velocities, acceleration and deceleration are specified in the following user-defined unit:

ousr_p for positions

ousr_v for velocities

ousr_a for acceleration and deceleration

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
_p_absENC (Mon) (PAMu)	Absolute position with reference to the encoder range. This value corresponds to the modulo position of the absolute encoder range. The value is no longer valid if the gear ratio of machine encoder and motor encoder is changed. A restart is required in such a case. Type: Unsigned decimal - 4 bytes	usr_p - - -	UINT32 R/- - -	Modbus 7710 IDN P-0-3030.0.15

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

_p_absENC

(Mon)

(PAMu)

Absolute position with reference to the encoder range.

This value corresponds to the modulo position of the absolute encoder range.

The value is no longer valid if the gear ratio of machine encoder and motor encoder is changed. A restart is required in such a case.

Type: Unsigned decimal - 4 bytes

usr_p

UINT32

R/-

Modbus 7710

IDN P-0-3030.0.15

Working Range of the Encoder

The working range of the singleturn encoder is 131072 increments per turn.

The working range of the multiturn encoder is 4096 turns with 131072 increments per turn.

Underrun of Absolute Position

If a rotary motor performs a movement from 0 into negative direction, there is an underrun of the absolute position of the encoder. However, the actual position keeps counting forward and delivers a negative position value. After a power cycle, the actual position no longer corresponds to the negative position value, but to the absolute position of the encoder.

The following options are available to adjust the absolute position of the encoder:

oAdjustment of the absolute position

oShifting the working range

Adjustment of the Absolute Position

When the motor is at a standstill, the new absolute position of the motor can be set to the current mechanical motor position the with the parameter ENC1_adjustment.

Adjusting the absolute position also shifts the position of the index pulse.

The absolute position of an encoder at encoder 2 (module) can be adjusted via the parameter ENC2_adjustment.

oSet the absolute position at the negative mechanical limit to a position value greater than 0. This way, the movements remain within the continuous range of the encoder.

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
ENC1_adjustment	Adjustment of absolute position of encoder 1. The value range depends on the encoder type. Singleturn encoder: 0 ... x-1 Multiturn encoder: 0 ... (4096x)-1 Singleturn encoder (shifted with parameter ShiftEncWorkRang): -(x/2) ... (x/2)-1 Multiturn encoder (shifted with parameter ShiftEncWorkRang): -(2048x) ... (2048*x)-1 Definition of 'x': Maximum position for one encoder turn in user-defined units. This value is 16384 with the default scaling. If processing is to be performed with inversion of the direction of movement, this must be set before the encoder position is adjusted. After the write access, a wait time of at least 1 second is required before the drive can be powered off. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective after the next power cycle.	usr_p - - -	INT32 R/W - -	Modbus 1324 IDN P-0-3005.0.22
ENC2_adjustment	Adjustment of absolute position of encoder 2. The value range depends on the encoder type at the physical port ENC2. This parameter can only be changed if the parameter ENC_abs_source is set to 'Encoder 2'. Singleturn encoder: 0 ... x-1 Multiturn encoder: 0 ... (yx)-1 Singleturn encoder (shifted with parameter ShiftEncWorkRang): -(x/2) ... (x/2)-1 Multiturn encoder (shifted with parameter ShiftEncWorkRang): -(y/2)x ... ((y/2)*x)-1 Definition of 'x': Maximum position for one encoder turn in user-defined units. This value is 16384 with the default scaling. Definition of 'y': Revolutions of the multiturn encoder. If processing is to be performed with inversion of the direction of movement, this must be set before the encoder position is adjusted. After the write access, the parameter values have to be saved to the nonvolatile memory and the drive has to be power cycled, before the change becomes effective. Type: Signed decimal - 4 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective after the next power cycle.	usr_p - - -	INT32 R/W - -	Modbus 1352 IDN P-0-3005.0.36

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

ENC1_adjustment

Adjustment of absolute position of encoder 1.

The value range depends on the encoder type.

Singleturn encoder:

0 ... x-1

Multiturn encoder:

0 ... (4096*x)-1

Singleturn encoder (shifted with parameter ShiftEncWorkRang):

-(x/2) ... (x/2)-1

Multiturn encoder (shifted with parameter ShiftEncWorkRang):

-(2048*x) ... (2048*x)-1

Definition of 'x': Maximum position for one encoder turn in user-defined units. This value is 16384 with the default scaling.

If processing is to be performed with inversion of the direction of movement, this must be set before the encoder position is adjusted.

After the write access, a wait time of at least 1 second is required before the drive can be powered off.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective after the next power cycle.

usr_p

INT32

R/W

Modbus 1324

IDN P-0-3005.0.22

ENC2_adjustment

Adjustment of absolute position of encoder 2.

The value range depends on the encoder type at the physical port ENC2.

This parameter can only be changed if the parameter ENC_abs_source is set to 'Encoder 2'.

Singleturn encoder:

0 ... x-1

Multiturn encoder:

0 ... (y*x)-1

Singleturn encoder (shifted with parameter ShiftEncWorkRang):

-(x/2) ... (x/2)-1

Multiturn encoder (shifted with parameter ShiftEncWorkRang):

-(y/2)*x ... ((y/2)*x)-1

Definition of 'x': Maximum position for one encoder turn in user-defined units. This value is 16384 with the default scaling.

Definition of 'y': Revolutions of the multiturn encoder.

If processing is to be performed with inversion of the direction of movement, this must be set before the encoder position is adjusted.

After the write access, the parameter values have to be saved to the nonvolatile memory and the drive has to be power cycled, before the change becomes effective.

Type: Signed decimal - 4 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective after the next power cycle.

usr_p

INT32

R/W

Modbus 1352

IDN P-0-3005.0.36

Shifting the Working Range

The parameter ShiftEncWorkRang lets you shift the working range.

The working range without shift comprises:

Singleturn encoder	0 ... 131071 increments
Multiturn encoder	0 ... 4095 revolutions

The working range with shift comprises:

Singleturn encoder	-65536 ... 65535 increments
Multiturn encoder	-2048 ... 2047 revolutions

Parameter name HMI menu HMI name	Description	Unit Minimum value Factory setting Maximum value	Data type R/W Persistent Expert	Parameter address via fieldbus
ShiftEncWorkRang	Shifting of the encoder working range. 0 / Off: Shifting off 1 / On: Shifting on After activating the shifting function, the position range of a multiturn encoder is shifted by one half of the range. Example for the position range of a multiturn encoder with 4096 revolutions: Value 0: Position values are between 0 … 4096 revolutions. Value 1: Position values are between -2048 … 2048 revolutions. Type: Unsigned decimal - 2 bytes Write access via Sercos: CP2, CP3, CP4 Modified settings become effective after the next power cycle.	- 0 0 1	UINT16 R/W per. -	Modbus 1346 IDN P-0-3005.0.33

Parameter name

HMI menu

HMI name

Description

Unit

Minimum value

Factory setting

Maximum value

Data type

R/W

Persistent

Expert

Parameter address via fieldbus

ShiftEncWorkRang

Shifting of the encoder working range.

0 / Off: Shifting off

1 / On: Shifting on

After activating the shifting function, the position range of a multiturn encoder is shifted by one half of the range.

Example for the position range of a multiturn encoder with 4096 revolutions:

Value 0: Position values are between 0 … 4096 revolutions.

Value 1: Position values are between -2048 … 2048 revolutions.

Type: Unsigned decimal - 2 bytes

Write access via Sercos: CP2, CP3, CP4

Modified settings become effective after the next power cycle.

UINT16

R/W

per.

Modbus 1346

IDN P-0-3005.0.33